In the previous chapter, we have seen some advanced concepts in ROS-MoveIt! Until now, we have been discussing mainly about interfacing personal and research robots with ROS, but one of the main areas where robots are extensively used are industries. Does ROS support industrial robots? Do any of the companies use ROS for the manufacturing process? The ROS-Industrial packages comes with a solution to interface industrial robot manipulators to ROS and controlling it using the power of ROS, such as MoveIt!, Gazebo, RViz, and so on.
In this chapter, we will discuss the following topics:
Understanding ROS-Industrial packages
Installing ROS-Industrial packages in ROS
Block diagram of ROS-Industrial packages
Creating URDF for an industrial robot
Creating the MoveIt! interface for an industrial robot
Installing ROS-Industrial packages of Universal robotic arms
Understanding MoveIt! configuration of a universal robotic arm
Working with MoveIt! configuration of ABB robots...